OpenRaiser/Intern-Atlas huggingface dataset:
UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
Venue: arXiv cs.RO 2024
Year: 2024

We introduce UMI-on-Legs, a new framework that combines real-world and simulation data for quadruped manipulation systems. We scale task-centric data collection in the real world using a hand-held gripper (UMI), providing a cheap way to demonstrate task-relevant manipulation skills without a robot. Simultaneously, we scale robot-centric data in simulation by training whole-body controller for task-tracking without task simulation setups. The interface between these two policies is end-effector trajectories in the task frame, inferred by the manipulation policy and passed to the whole-body controller for tracking. We evaluate UMI-on-Legs on prehensile, non-prehensile, and dynamic manipulation tasks, and report over 70% success rate on all tasks. Lastly, we demonstrate the zero-shot cross-embodiment deployment of a pre-trained manipulation policy checkpoint from prior work, originally intended for a fixed-base robot arm, on our quadruped system. We believe this framework provides a scalable path towards learning expressive manipulation skills on dynamic robot embodiments. Please checkout our website for robot videos, code, and data: https://umi-on-legs.github.io
Perceptions of Entrepreneurship Among Graduate Students: Challenges, Opportunities, and Cultural Biases
Venue: arXiv cs.CY 2024
Year: 2024

The purpose of the paper is to examine the perceptions of entrepreneurship of graduate students enrolled in a digital-oriented entrepreneurship course, focusing on the challenges and opportunities related to starting a business. In today's digital era, businesses heavily depend on tailored software solutions to facilitate their operational processes, foster expansion, and enhance their competitive edge, thus assuming, to a certain degree, the characteristics of software companies. For data gathering, we used online exploratory surveys. The findings indicated that although entrepreneurship was considered an attractive option by students, very few of them declared that they intended to start a business soon. The main issues raised by the students were internal traits and external obstacles, such as lack of resources and support. Gender discrimination and cultural biases persist, limiting opportunities and equality for women. In terms of gender, women face limited representation in leadership roles, are expected to do more unpaid 'family work', are perceived as less capable in ding business, and need to prove their skills. Even if women are less discriminated now, both genders agree that women still face discrimination in business domain. In terms of percentages, women mentioned gender discrimination in higher percentages. Addressing these issues requires awareness, education, and policy changes to ensure fair treatment and opportunities for women.
Exploring the Impact of Moire Pattern on Deepfake Detectors
Venue: arXiv cs.CV 2024
Year: 2024

Deepfake detection is critical in mitigating the societal threats posed by manipulated videos. While various algorithms have been developed for this purpose, challenges arise when detectors operate externally, such as on smartphones, when users take a photo of deepfake images and upload on the Internet. One significant challenge in such scenarios is the presence of Moiré patterns, which degrade image quality and confound conventional classification algorithms, including deep neural networks (DNNs). The impact of Moiré patterns remains largely unexplored for deepfake detectors. In this study, we investigate how camera-captured deepfake videos from digital screens affect detector performance. We conducted experiments using two prominent datasets, CelebDF and FF++, comparing the performance of four state-of-the-art detectors on camera-captured deepfake videos with introduced Moiré patterns. Our findings reveal a significant decline in detector accuracy, with none achieving above 68% on average. This underscores the critical need to address Moiré pattern challenges in real-world deepfake detection scenarios.
Omni-Dimensional Frequency Learner for General Time Series Analysis
Venue: arXiv cs.CV 2024
Year: 2024

Frequency domain representation of time series feature offers a concise representation for handling real-world time series data with inherent complexity and dynamic nature. However, current frequency-based methods with complex operations still fall short of state-of-the-art time domain methods for general time series analysis. In this work, we present Omni-Dimensional Frequency Learner (ODFL) model based on a in depth analysis among all the three aspects of the spectrum feature: channel redundancy property among the frequency dimension, the sparse and un-salient frequency energy distribution among the frequency dimension, and the semantic diversity among the variable dimension. Technically, our method is composed of a semantic-adaptive global filter with attention to the un-salient frequency bands and partial operation among the channel dimension. Empirical results show that ODFL achieves consistent state-of-the-art in five mainstream time series analysis tasks, including short- and long-term forecasting, imputation, classification, and anomaly detection, offering a promising foundation for time series analysis.
Backdoor Attacks against Image-to-Image Networks
Venue: arXiv cs.CV 2024
Year: 2024

Recently, deep learning-based Image-to-Image (I2I) networks have become the predominant choice for I2I tasks such as image super-resolution and denoising. Despite their remarkable performance, the backdoor vulnerability of I2I networks has not been explored. To fill this research gap, we conduct a comprehensive investigation on the susceptibility of I2I networks to backdoor attacks. Specifically, we propose a novel backdoor attack technique, where the compromised I2I network behaves normally on clean input images, yet outputs a predefined image of the adversary for malicious input images containing the trigger. To achieve this I2I backdoor attack, we propose a targeted universal adversarial perturbation (UAP) generation algorithm for I2I networks, where the generated UAP is used as the backdoor trigger. Additionally, in the backdoor training process that contains the main task and the backdoor task, multi-task learning (MTL) with dynamic weighting methods is employed to accelerate convergence rates. In addition to attacking I2I tasks, we extend our I2I backdoor to attack downstream tasks, including image classification and object detection. Extensive experiments demonstrate the effectiveness of the I2I backdoor on state-of-the-art I2I network architectures, as well as the robustness against different mainstream backdoor defenses.
Enhancing Medication Recommendation with LLM Text Representation
Venue: arXiv cs.CL 2024
Year: 2024

Most of the existing medication recommendation models are predicted with only structured data such as medical codes, with the remaining other large amount of unstructured or semi-structured data underutilization. To increase the utilization effectively, we proposed a method of enhancing medication recommendation with Large Language Model (LLM) text representation. LLM harnesses powerful language understanding and generation capabilities, enabling the extraction of information from complex and lengthy unstructured data such as clinical notes which contain complex terminology. This method can be applied to several existing base models we selected and improve medication recommendation performance with the combination representation of text and medical codes experiments on two different datasets. LLM text representation alone can even demonstrate a comparable ability to the medical code representation alone. Overall, this is a general method that can be applied to other models for improved recommendations.
Don't Throw Away Data: Better Sequence Knowledge Distillation
Venue: arXiv cs.CL 2024
Year: 2024

A critical component in knowledge distillation is the means of coupling the teacher and student. The predominant sequence knowledge distillation method involves supervised learning of the student against teacher-decoded outputs, and is exemplified by the current state of the art, which incorporates minimum Bayes risk (MBR) decoding. In this paper we seek to integrate MBR more tightly in distillation training, specifically by using several high scoring MBR translations, rather than a single selected sequence, thus capturing a rich diversity of teacher outputs. Our experiments on English to German and English to Japanese translation show consistent improvements over strong baseline methods for both tasks and with varying model sizes. Additionally, we conduct a detailed analysis focusing on data efficiency and capacity curse aspects to elucidate MBR-n and explore its further potential.
Leveraging Hybrid Intelligence Towards Sustainable and Energy-Efficient Machine Learning
Venue: arXiv cs.AI 2024
Year: 2024

Hybrid intelligence aims to enhance decision-making, problem-solving, and overall system performance by combining the strengths of both, human cognitive abilities and artificial intelligence. With the rise of Large Language Models (LLM), progressively participating as smart agents to accelerate machine learning development, Hybrid Intelligence is becoming an increasingly important topic for effective interaction between humans and machines. This paper presents an approach to leverage Hybrid Intelligence towards sustainable and energy-aware machine learning. When developing machine learning models, final model performance commonly rules the optimization process while the efficiency of the process itself is often neglected. Moreover, in recent times, energy efficiency has become equally crucial due to the significant environmental impact of complex and large-scale computational processes. The contribution of this work covers the interactive inclusion of secondary knowledge sources through Human-in-the-loop (HITL) and LLM agents to stress out and further resolve inefficiencies in the machine learning development process.
Boosting Zero-Shot Crosslingual Performance using LLM-Based Augmentations with Effective Data Selection
Venue: arXiv cs.CL 2024
Year: 2024

Large language models (LLMs) are very proficient text generators. We leverage this capability of LLMs to generate task-specific data via zero-shot prompting and promote cross-lingual transfer for low-resource target languages. Given task-specific data in a source language and a teacher model trained on this data, we propose using this teacher to label LLM generations and employ a set of simple data selection strategies that use the teacher's label probabilities. Our data selection strategies help us identify a representative subset of diverse generations that help boost zero-shot accuracies while being efficient, in comparison to using all the LLM generations (without any subset selection). We also highlight other important design choices that affect cross-lingual performance such as the use of translations of source data and what labels are best to use for the LLM generations. We observe significant performance gains across sentiment analysis and natural language inference tasks (of up to a maximum of 7.13 absolute points and 1.5 absolute points on average) across a number of target languages (Hindi, Marathi, Urdu, Swahili) and domains.
The Medium is the Message: How Secure Messaging Apps Leak Sensitive Data to Push Notification Services
Venue: arXiv cs.CR 2024
Year: 2024

Like most modern software, secure messaging apps rely on third-party components to implement important app functionality. Although this practice reduces engineering costs, it also introduces the risk of inadvertent privacy breaches due to misconfiguration errors or incomplete documentation. Our research investigated secure messaging apps' usage of Google's Firebase Cloud Messaging (FCM) service to send push notifications to Android devices. We analyzed 21 popular secure messaging apps from the Google Play Store to determine what personal information these apps leak in the payload of push notifications sent via FCM. Of these apps, 11 leaked metadata, including user identifiers (10 apps), sender or recipient names (7 apps), and phone numbers (2 apps), while 4 apps leaked the actual message content. Furthermore, none of the data we observed being leaked to FCM was specifically disclosed in those apps' privacy disclosures. We also found several apps employing strategies to mitigate this privacy leakage to FCM, with varying levels of success. Of the strategies we identified, none appeared to be common, shared, or well-supported. We argue that this is fundamentally an economics problem: incentives need to be correctly aligned to motivate platforms and SDK providers to make their systems secure and private by default.
InsertDiffusion: Identity Preserving Visualization of Objects through a Training-Free Diffusion Architecture
Venue: arXiv cs.CV 2024
Year: 2024

Recent advancements in image synthesis are fueled by the advent of large-scale diffusion models. Yet, integrating realistic object visualizations seamlessly into new or existing backgrounds without extensive training remains a challenge. This paper introduces InsertDiffusion, a novel, training-free diffusion architecture that efficiently embeds objects into images while preserving their structural and identity characteristics. Our approach utilizes off-the-shelf generative models and eliminates the need for fine-tuning, making it ideal for rapid and adaptable visualizations in product design and marketing. We demonstrate superior performance over existing methods in terms of image realism and alignment with input conditions. By decomposing the generation task into independent steps, InsertDiffusion offers a scalable solution that extends the capabilities of diffusion models for practical applications, achieving high-quality visualizations that maintain the authenticity of the original objects.
Balancing the Scales: Reinforcement Learning for Fair Classification
Venue: arXiv cs.LG 2024
Year: 2024

Fairness in classification tasks has traditionally focused on bias removal from neural representations, but recent trends favor algorithmic methods that embed fairness into the training process. These methods steer models towards fair performance, preventing potential elimination of valuable information that arises from representation manipulation. Reinforcement Learning (RL), with its capacity for learning through interaction and adjusting reward functions to encourage desired behaviors, emerges as a promising tool in this domain. In this paper, we explore the usage of RL to address bias in imbalanced classification by scaling the reward function to mitigate bias. We employ the contextual multi-armed bandit framework and adapt three popular RL algorithms to suit our objectives, demonstrating a novel approach to mitigating bias.
Qwen2 Technical Report
Venue: arXiv cs.CL 2024
Year: 2024

This report introduces the Qwen2 series, the latest addition to our large language models and large multimodal models. We release a comprehensive suite of foundational and instruction-tuned language models, encompassing a parameter range from 0.5 to 72 billion, featuring dense models and a Mixture-of-Experts model. Qwen2 surpasses most prior open-weight models, including its predecessor Qwen1.5, and exhibits competitive performance relative to proprietary models across diverse benchmarks on language understanding, generation, multilingual proficiency, coding, mathematics, and reasoning. The flagship model, Qwen2-72B, showcases remarkable performance: 84.2 on MMLU, 37.9 on GPQA, 64.6 on HumanEval, 89.5 on GSM8K, and 82.4 on BBH as a base language model. The instruction-tuned variant, Qwen2-72B-Instruct, attains 9.1 on MT-Bench, 48.1 on Arena-Hard, and 35.7 on LiveCodeBench. Moreover, Qwen2 demonstrates robust multilingual capabilities, proficient in approximately 30 languages, spanning English, Chinese, Spanish, French, German, Arabic, Russian, Korean, Japanese, Thai, Vietnamese, and more, underscoring its versatility and global reach. To foster community innovation and accessibility, we have made the Qwen2 model weights openly available on Hugging Face and ModelScope, and the supplementary materials including example code on GitHub. These platforms also include resources for quantization, fine-tuning, and deployment, facilitating a wide range of applications and research endeavors.
Probability Passing for Graph Neural Networks: Graph Structure and Representations Joint Learning
Venue: arXiv cs.LG 2024
Year: 2024

Graph Neural Networks (GNNs) have achieved notable success in the analysis of non-Euclidean data across a wide range of domains. However, their applicability is constrained by the dependence on the observed graph structure. To solve this problem, Latent Graph Inference (LGI) is proposed to infer a task-specific latent structure by computing similarity or edge probability of node features and then apply a GNN to produce predictions. Even so, existing approaches neglect the noise from node features, which affects generated graph structure and performance. In this work, we introduce a novel method called Probability Passing to refine the generated graph structure by aggregating edge probabilities of neighboring nodes based on observed graph. Furthermore, we continue to utilize the LGI framework, inputting the refined graph structure and node features into GNNs to obtain predictions. We name the proposed scheme as Probability Passing-based Graph Neural Network (PPGNN). Moreover, the anchor-based technique is employed to reduce complexity and improve efficiency. Experimental results demonstrate the effectiveness of the proposed method.
IE-NeRF: Inpainting Enhanced Neural Radiance Fields in the Wild
Venue: arXiv cs.CV 2024
Year: 2024

We present a novel approach for synthesizing realistic novel views using Neural Radiance Fields (NeRF) with uncontrolled photos in the wild. While NeRF has shown impressive results in controlled settings, it struggles with transient objects commonly found in dynamic and time-varying scenes. Our framework called \textit{Inpainting Enhanced NeRF}, or \ours, enhances the conventional NeRF by drawing inspiration from the technique of image inpainting. Specifically, our approach extends the Multi-Layer Perceptrons (MLP) of NeRF, enabling it to simultaneously generate intrinsic properties (static color, density) and extrinsic transient masks. We introduce an inpainting module that leverages the transient masks to effectively exclude occlusions, resulting in improved volume rendering quality. Additionally, we propose a new training strategy with frequency regularization to address the sparsity issue of low-frequency transient components. We evaluate our approach on internet photo collections of landmarks, demonstrating its ability to generate high-quality novel views and achieve state-of-the-art performance.
Detecting Omissions in Geographic Maps through Computer Vision
Venue: arXiv cs.CV 2024
Year: 2024

This paper explores the application of computer vision technologies to the analysis of maps, an area with substantial historical, cultural, and political significance. Our focus is on developing and evaluating a method for automatically identifying maps that depict specific regions and feature landmarks with designated names, a task that involves complex challenges due to the diverse styles and methods used in map creation. We address three main subtasks: differentiating maps from non-maps, verifying the accuracy of the region depicted, and confirming the presence or absence of particular landmark names through advanced text recognition techniques. Our approach utilizes a Convolutional Neural Network and transfer learning to differentiate maps from non-maps, verify the accuracy of depicted regions, and confirm landmark names through advanced text recognition. We also introduce the VinMap dataset, containing annotated map images of Vietnam, to train and test our method. Experiments on this dataset demonstrate that our technique achieves F1-score of 85.51% for identifying maps excluding specific territorial landmarks. This result suggests practical utility and indicates areas for future improvement.
TME-Box: Scalable In-Process Isolation through Intel TME-MK Memory Encryption
Venue: arXiv cs.CR 2024
Year: 2024

Efficient cloud computing relies on in-process isolation to optimize performance by running workloads within a single process. Without heavy-weight process isolation, memory safety errors pose a significant security threat by allowing an adversary to extract or corrupt the private data of other co-located tenants. Existing in-process isolation mechanisms are not suitable for modern cloud requirements, e.g., MPK's 16 protection domains are insufficient to isolate thousands of cloud workers per process. Consequently, cloud service providers have a strong need for lightweight in-process isolation on commodity x86 machines. This paper presents TME-Box, a novel isolation technique that enables fine-grained and scalable sandboxing on commodity x86 CPUs. By repurposing Intel TME-MK, which is intended for the encryption of virtual machines, TME-Box offers lightweight and efficient in-process isolation. TME-Box enforces that sandboxes use their designated encryption keys for memory interactions through compiler instrumentation. This cryptographic isolation enables fine-grained access control, from single cache lines to full pages, and supports flexible data relocation. In addition, the design of TME-Box allows the efficient isolation of up to 32K concurrent sandboxes. We present a performance-optimized TME-Box prototype, utilizing x86 segment-based addressing, that showcases geomean performance overheads of 5.2 % for data isolation and 9.7 % for code and data isolation, evaluated with the SPEC CPU2017 benchmark suite.
Physics-Informed Machine Learning for Smart Additive Manufacturing
Venue: arXiv cs.LG 2024
Year: 2024

Compared to physics-based computational manufacturing, data-driven models such as machine learning (ML) are alternative approaches to achieve smart manufacturing. However, the data-driven ML's "black box" nature has presented a challenge to interpreting its outcomes. On the other hand, governing physical laws are not effectively utilized to develop data-efficient ML algorithms. To leverage the advantages of ML and physical laws of advanced manufacturing, this paper focuses on the development of a physics-informed machine learning (PIML) model by integrating neural networks and physical laws to improve model accuracy, transparency, and generalization with case studies in laser metal deposition (LMD).
Domain Generalization for 6D Pose Estimation Through NeRF-based Image Synthesis
Venue: arXiv cs.CV 2024
Year: 2024

This work introduces a novel augmentation method that increases the diversity of a train set to improve the generalization abilities of a 6D pose estimation network. For this purpose, a Neural Radiance Field is trained from synthetic images and exploited to generate an augmented set. Our method enriches the initial set by enabling the synthesis of images with (i) unseen viewpoints, (ii) rich illumination conditions through appearance extrapolation, and (iii) randomized textures. We validate our augmentation method on the challenging use-case of spacecraft pose estimation and show that it significantly improves the pose estimation generalization capabilities. On the SPEED+ dataset, our method reduces the error on the pose by 50% on both target domains.